3D Object Detection on KITTI Pedestrian (test)
2,849AP3D (Easy)YOLOStereo3D
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| YOLOStereo3DTime=0.08s2021.03 | 2,849 | 1,975 | 1,648 | — | — | — | — | — | — | |
| OC StereoTime=0.35s, usage of point cloud or pretrained disparity=true2021.03 | 2,448 | 1,758 | 1,560 | — | — | — | — | — | — | |
| DSGNTime=0.67s, usage of point cloud or pretrained disparity=true2021.03 | 2,053 | 1,555 | 1,415 | — | — | — | — | — | — | |
| Pseudo-Stereo (Ours-fld)IoU threshold=0.5, Variant=feature-level generation2022.03 | 1,695 | 1,082 | 926 | 1,903 | 1,223 | 1,053 | — | — | — | |
| GUPNetIoU threshold=0.52022.03 | 1,495 | 976 | 841 | 1,562 | 1,037 | 879 | — | — | — | |
| GUP NetExtra=Image-only2022.07 | 1,472 | 953 | 787 | — | — | — | — | — | — | |
| Pseudo-Stereo (Ours-fcd)IoU threshold=0.5, Variant=feature clone2022.03 | 1,433 | 918 | 786 | 1,708 | 1,104 | 959 | — | — | — | |
| DD3DExtra=LiDAR2022.07 | 1,391 | 930 | 805 | — | — | — | — | — | — | |
| DD3DIoU threshold=0.7, metric=AP|R402023.03 | 1,391 | 930 | 805 | 1,590 | 1,085 | 805 | — | — | — | |
| DEVIANTExtra=Image-only2022.07 | 1,343 | 865 | 769 | — | — | — | — | — | — | |
| CaDDNIoU threshold=0.52022.03 | 1,287 | 814 | 676 | 1,472 | 941 | 817 | — | — | — | |
| CaDDNExtra=LiDAR2022.07 | 1,287 | 814 | 676 | — | — | — | — | — | — | |
| MonoDistillExtra=Depth2022.07 | 1,279 | 817 | 745 | — | — | — | — | — | — | |
| MonoFlexExtra=Image-only2022.07 | 1,189 | 816 | 681 | — | — | — | — | — | — | |
| MonoFlexIoU threshold=0.52022.03 | 943 | 631 | 526 | 1,036 | 736 | 629 | — | — | — | |
| Pseudo-Stereo (Ours-im)IoU threshold=0.5, Variant=image-level generation2022.03 | 826 | 524 | 451 | 994 | 653 | 572 | — | — | — | |
| MonoDIS-MExtra=Image-only2022.07 | 779 | 514 | 442 | — | — | — | — | — | — | |
| MonoDisIoU threshold=0.7, metric=AP|R402023.03 | 779 | 514 | 442 | 907 | 581 | 509 | — | — | — | |
| MonoPSRIoU threshold=0.52022.03 | 612 | 400 | 330 | 724 | 456 | 411 | — | — | — | |
| MonoPSRIoU threshold=0.7, metric=AP|R402023.03 | 612 | 400 | 330 | 724 | 456 | 411 | — | — | — | |
| DFR-NetExtra=Depth2022.07 | 609 | 362 | 339 | — | — | — | — | — | — | |
| DDMP-3DExtra=Depth2022.07 | 493 | 355 | 301 | — | — | — | — | — | — | |
| M3D-RPNIoU threshold=0.7, metric=AP|R402023.03 | 492 | 348 | 294 | 565 | 405 | 329 | — | — | — | |
| WeakMono3DIoU threshold=0.7, metric=AP|R402023.03 | 462 | 313 | 287 | 553 | 386 | 329 | — | — | — | |
| D4LCNIoU threshold=0.52022.03 | 455 | 342 | 283 | 506 | 386 | 359 | — | — | — | |
| MonoEFExtra=Odometry2022.07 | 427 | 279 | 221 | — | — | — | — | — | — | |
| RT3DStereoTime=0.08s2021.03 | 328 | 245 | 235 | — | — | — | — | — | — | |
| SSD3DIoU threshold=0.7, metric=AP|R402023.03 | 231 | 178 | 148 | 248 | 209 | 161 | — | — | — | |
| OFTNetIoU threshold=0.7, metric=AP|R402023.03 | 63 | 36 | 35 | 128 | 81 | 51 | — | — | — | |
| STDModality=LiDAR2019.07 | 53.08 | 44.24 | 41.97 | — | — | — | — | — | — | |
| PointPillarsModality=LiDAR2019.07 | 52.08 | 43.53 | 41.49 | — | — | — | — | — | — | |
| F-PointNetRuntime (s)=0.172017.12 | 51.21 | 44.89 | 40.23 | 58.09 | 50.22 | 47.2 | — | — | — | |
| F-PointNetModality=RGB + LiDAR2019.07 | 51.21 | 44.89 | 40.23 | — | — | — | — | — | — | |
| SECONDModality=LiDAR2019.07 | 51.07 | 42.56 | 37.29 | — | — | — | — | — | — | |
| AVOD (Feature Pyramid)Runtime (s)=0.12017.12 | 50.8 | 42.81 | 40.88 | 58.75 | 51.05 | 47.54 | — | — | — | |
| AVOD-FPNModality=RGB + LiDAR2019.07 | 50.8 | 42.81 | 40.88 | — | — | — | — | — | — | |
| VoxelNetRuntime (s)=0.232017.12 | 39.48 | 33.69 | 31.51 | 46.13 | 40.74 | 38.11 | — | — | — | |
| VoxelNetModality=LiDAR2019.07 | 39.48 | 33.69 | 31.51 | — | — | — | — | — | — | |
| AVODRuntime (s)=0.082017.12 | 38.28 | 31.51 | 26.98 | 42.51 | 35.24 | 33.97 | — | — | — | |
| AVODModality=RGB + LiDAR2019.07 | 38.28 | 31.51 | 26.98 | — | — | — | — | — | — | |
| CMKDExtra Data=LIDAR2023.12 | 17.79 | 11.69 | 10.09 | — | — | — | — | — | — | |
| CMKDTraining Data Source=KITTI trainval (~7.5k)2022.11 | 17.79 | 11.69 | 10.09 | 20.42 | 13.47 | 11.64 | — | — | — | |
| MonoLSSExtra Data=None2023.12 | 17.09 | 11.27 | 10 | — | — | — | — | — | — | |
| MonoDGP (+SPAN)Extra data=None2025.11 | 16.62 | 10.54 | 9.03 | — | — | — | — | — | — | |
| MonoDTRExtra Data=None2023.12 | 15.33 | 10.18 | 8.61 | — | — | — | — | — | — | |
| MonoDGPExtra data=None2025.11 | 15.04 | 9.89 | 8.38 | — | — | — | — | — | — | |
| GUPNetExtra Data=None2023.12 | 14.95 | 9.76 | 8.41 | — | — | — | — | — | — | |
| GUPNet2022.11 | 14.95 | 9.76 | 8.41 | 15.62 | 10.37 | 8.79 | — | — | — | |
| GUPNetExtra data=None2025.11 | 14.72 | 9.53 | 7.87 | — | — | — | — | — | — | |
| OccupancyM3DExtra data=LiDAR2025.11 | 14.68 | 9.15 | 7.8 | — | — | — | — | — | — | |
| MonoPGCExtra data=Depth2025.11 | 14.16 | 9.67 | 8.26 | — | — | — | — | — | — | |
| CMKD*Training Data Source=KITTI Raw (~42k)2022.11 | 13.94 | 8.79 | 7.42 | 16.03 | 10.28 | 8.85 | — | — | — | |
| DD3DExtra Data=Depth2023.12 | 13.91 | 9.3 | 8.05 | — | — | — | — | — | — | |
| DD3DExtra Datasets=DDAD15M2022.11 | 13.91 | 9.3 | 8.05 | 15.9 | 10.85 | 9.41 | — | — | — | |
| DEVIANTExtra data=None2025.11 | 13.43 | 8.65 | 7.69 | — | — | — | — | — | — | |
| MonoConExtra Data=None2023.12 | 13.1 | 8.41 | 6.94 | — | — | — | — | — | — | |
| MonoConExtra data=None2025.11 | 13.1 | 8.41 | 6.94 | — | — | — | — | — | — | |
| CaDDNExtra Data=LIDAR2023.12 | 12.87 | 8.14 | 6.76 | — | — | — | — | — | — | |
| CaDDN2022.11 | 12.87 | 8.14 | 6.76 | 14.72 | 9.41 | 8.17 | — | — | — | |
| CaDDNExtra data=LiDAR2025.11 | 12.87 | 8.14 | 6.76 | — | — | — | — | — | — | |
| MonoDETRExtra data=None2025.11 | 12.65 | 7.19 | 6.72 | — | — | — | — | — | — | |
| GUPNet++Extra data=None2025.11 | 12.45 | 8.13 | 6.91 | — | — | — | — | — | — | |
| MonoDDEExtra Data=None2023.12 | 11.13 | 7.32 | 6.67 | — | — | — | — | — | — | |
| MonoPairIoU threshold=0.72020.03 | 10.02 | 6.68 | 5.53 | 10.99 | 7.04 | 6.29 | — | — | — | |
| MonoFlex2022.11 | 9.43 | 6.31 | 5.26 | 10.36 | 7.36 | 6.29 | — | — | — | |
| MonoPSR2022.11 | 8.37 | 4.74 | 3.68 | 9.87 | 5.78 | 4.57 | — | — | — | |
| DFR-NetExtra Data=Depth2023.12 | 6.09 | 3.62 | 3.39 | — | — | — | — | — | — | |
| DFR-Net2022.11 | 6.09 | 3.62 | 3.39 | 6.66 | 4.52 | 3.71 | — | — | — | |
| M3DSSDIoU threshold=0.52021.03 | 5.16 | 3.87 | 3.08 | 6.2 | 4.66 | 3.99 | — | — | — | |
| M3D-RPNIoU threshold=0.52021.03 | 4.92 | 3.48 | 2.94 | 5.65 | 4.05 | 3.29 | — | — | — | |
| M3D-RPNIoU threshold=0.72020.03 | 4.92 | 3.48 | 2.94 | 5.65 | 4.05 | 3.29 | — | — | — | |
| D4LCNIoU threshold=0.52021.03 | 4.55 | 3.42 | 2.83 | 5.06 | 3.86 | 3.59 | — | — | — | |
| SS3DIoU threshold=0.52021.03 | 2.31 | 1.78 | 1.48 | 2.48 | 2.09 | 1.61 | — | — | — | |
| VirPro+GGA+PGD2026.03 | 1.07 | 70 | 51 | 1.59 | 1.09 | 91 | — | — | — | |
| GGA+PGD2026.03 | 0.57 | 36 | 27 | 0.87 | 0.61 | 46 | — | — | — | |
| CaDDN2022.05 | — | — | — | — | — | — | 12.87 | 8.14 | 6.76 | |
| DFR-Net2022.05 | — | — | — | — | — | — | 6.09 | 3.62 | 3.39 | |
| M3D-RPN2021.03 | — | — | — | — | — | — | 4.92 | 3.48 | 2.94 | |
| M3D-RPN2022.05 | — | — | — | — | — | — | 4.92 | 3.48 | 2.94 | |
| MonoDDE2022.05 | — | — | — | — | — | — | 11.13 | 7.32 | 6.67 | |
| MonoFlex2022.05 | — | — | — | — | — | — | 9.43 | 6.31 | 5.26 | |
| MonoPair2021.03 | — | — | — | — | — | — | 10.02 | 6.68 | 5.53 | |
| MonoPair2022.05 | — | — | — | — | — | — | 10.02 | 6.68 | 5.53 | |
| MonoPSR2021.03 | — | — | — | — | — | — | 6.12 | 4 | 3.3 | |
| MonoRUn2021.03 | — | — | — | — | — | — | 10.88 | 6.78 | 5.83 |